function regressor_func(H, q, dq, ddq)
#
    x0 = sin(q[2])
    x1 = -dq[2]
    x2 = cos(q[2])
    x3 = -x2
    x4 = dq[1]*x3
    x5 = x1*x4
    x6 = ddq[1]*x0 + x5
    x7 = dq[1]*x0
    x8 = x1*x7
    x9 = -x8
    x10 = ddq[1]*x3
    x11 = x10 + x9
    x12 = x3*(x5 + x6)
    x13 = -ddq[2]
    x14 = x4*x7
    x15 = x13 + x14
    x16 = x1^2
    x17 = x7^2
    x18 = -x17
    x19 = -x5
    x20 = x4^2
    x21 = -x16
    x22 = -x14
    x23 = -0.41*x0^2 - 0.41*x2^2
    x24 = -0.41*dq[2]
    x25 = x24*x7
    x26 = x10*x23 + x25
    x27 = -x26
    x28 = x25 + x26
    x29 = -0.41*ddq[2] - 9.81*x2
    x30 = x23*x4
    x31 = 9.81*x0
    x32 = x1*x24
    x33 = -x20
    x34 = x23*x3
    x35 = sin(q[3])
    x36 = cos(q[3])
    x37 = x36*x7
    x38 = x35*x4
    x39 = x37 + x38
    x40 = dq[3] + x1
    x41 = x39*x40
    x42 = -x41
    x43 = x36*x6
    x44 = x11*x35
    x45 = x35*x7
    x46 = x36*x4
    x47 = x45 - x46
    x48 = -dq[3]
    x49 = x43 + x44 + x47*x48
    x50 = -x36
    x51 = x39*x47
    x52 = -x51
    x53 = ddq[3] + x13
    x54 = x52 + x53
    x55 = x39^2
    x56 = x40^2
    x57 = -x56
    x58 = x55 + x57
    x59 = x35*x6
    x60 = dq[3]*x39 + x11*x50 + x59
    x61 = x41 + x60
    x62 = x40*x47
    x63 = -x62
    x64 = x49 + x63
    x65 = x47^2
    x66 = -x65
    x67 = x56 + x66
    x68 = x51 + x53
    x69 = x35*x68
    x70 = x24*x35 + 0.0098*x45 - 0.0098*x46
    x71 = x47*x70
    x72 = x24*x50 - 0.0098*x37 - 0.0098*x38
    x73 = -x72
    x74 = x26 + x39*x73 + x71
    x75 = x57 + x66
    x76 = x35*x75
    x77 = -x53
    x78 = x51 + x77
    x79 = -0.0098*x36
    x80 = x40*x70
    x81 = dq[3]*x70 + x29*x50 + x31*x35 - 0.0098*x43 - 0.0098*x44
    x82 = x30*x39 - x80 + x81
    x83 = x11*x79 + x29*x35 + x31*x36 + x48*x72 + 0.0098*x59
    x84 = x30*x47 + x40*x73 - x83
    x85 = x41 - x60
    x86 = x35*x85
    x87 = x49 + x62
    x88 = x35*x82
    x89 = -x55
    x90 = x27 + x39*x72 - x71
    x91 = x57 + x89
    x92 = -x30
    x93 = x40*x72 + x47*x92 + x83
    x94 = x35*x93
    x95 = sqrt(3)
    x96 = x95/2
    x97 = dq[4]*x96
    x98 = x47/2
    x99 = cos(q[4])
    x100 = x40*x99
    x101 = sin(q[4])
    x102 = x101*x39
    x103 = x100/2 - x102/2 + x95*x98
    x104 = x103 + x97
    x105 = x39*x99
    x106 = x101*x40
    x107 = x105 + x106
    x108 = x104*x107
    x109 = -x108
    x110 = dq[4]/2
    x111 = -x95/2
    x112 = x100*x111 + x102*x96 + x98
    x113 = x110 + x112
    x114 = x107*x113
    x115 = x109/2 + x114*x96
    x116 = x49*x99
    x117 = x101*x53
    x118 = -x97
    x119 = x103*x110 + x112*x118 + x116 + x117
    x120 = -x101/2
    x121 = x101*x96
    x122 = x109*x121 + x114*x120 + x119*x99
    x123 = x107^2
    x124 = x104^2
    x125 = -x124
    x126 = x123 + x125
    x127 = x104*x113
    x128 = x119 + x127
    x129 = x128*x96
    x130 = x126/2 + x129
    x131 = x53*x99
    x132 = x101*x49
    x133 = -x110
    x134 = ddq[4]*x96 + x107*x133 + x131/2 - x132/2 + x60*x96
    x135 = -x114
    x136 = x134 + x135
    x137 = x120*x128 + x121*x126 + x136*x99
    x138 = -x127
    x139 = x119 + x138
    x140 = x113^2
    x141 = -x123
    x142 = x140 + x141
    x143 = x139/2 + x142*x96
    x144 = ddq[4]/2 + x107*x97 + x111*x131 + x132*x96 + x60/2
    x145 = x108 + x144
    x146 = x145*x99
    x147 = x120*x142 + x121*x139 + x146
    x148 = x108/2 + x134*x96
    x149 = x108*x121 + x120*x134 + x138*x99
    x150 = x114 + x134
    x151 = x109 + x144
    x152 = x150/2 + x151*x96
    x153 = -x140
    x154 = x124 + x153
    x155 = x120*x151 + x121*x150 + x154*x99
    x156 = x144/2
    x157 = x135*x96 + x156
    x158 = x144*x96
    x159 = x101*x158 + x120*x135 + x127*x99
    x160 = x26*x99
    x161 = x101*x83
    x162 = -0.250081654946951*x100 + x101*x30 + 0.250081654946951*x102 + x70*x99
    x163 = 0.125040827473476*x116 + 0.125040827473476*x117 + x133*x162 + x160/2 - x161/2 + x81*x96
    x164 = x113*x162
    x165 = x101*x70
    x166 = x30*x99
    x167 = -0.125040827473476*x95
    x168 = x105*x167 + x106*x167 + x111*x166 + x165*x96 + x72/2
    x169 = -x107
    x170 = x163 + x164 + x168*x169
    x171 = x111*x160 + x116*x167 + x117*x167 + x161*x96 + x162*x97 + x81/2
    x172 = x104*x162
    x173 = 0.125040827473476*x105 + 0.125040827473476*x106 - x165/2 + x166/2 + x72*x96
    x174 = x169*x173 - x171 + x172
    x175 = x170/2 + x174*x96
    x176 = x125 + x153
    x177 = x101*x176
    x178 = x114 - x134
    x179 = x167*x178
    x180 = x120*x174 + x121*x170 + 0.125040827473476*x146 + 0.250081654946951*x177 + x179*x99
    x181 = x176*x99
    x182 = x120*x145 + x121*x178 + x181
    x183 = x182*x35
    x184 = x145*x96 + x178/2
    x185 = x99/2
    x186 = x111*x99
    x187 = x108 - x144
    x188 = x187*x99
    x189 = x141 + x153
    x190 = x101*x129 + x120*x189 + x188
    x191 = x190*x35
    x192 = x128/2 + x189*x96
    x193 = x101*x26 + x110*x173 + x118*x168 - 0.250081654946951*x131 + 0.250081654946951*x132 + x83*x99
    x194 = x113*x173
    x195 = x104*x168
    x196 = -x193 + x194 - x195
    x197 = x196/2
    x198 = x107*x173 + x171 - x172
    x199 = x198*x99
    x200 = 0.125040827473476*x189
    x201 = x101*x187
    x202 = x128*x167
    x203 = x121*x196 + x199 + x200*x99 + 0.250081654946951*x201 + x202*x99
    x204 = x193 - x194 + x195
    x205 = x204*x96
    x206 = x107*x168 - x163 - x164
    x207 = -x119 + x127
    x208 = 0.125040827473476*x207
    x209 = x101*x150
    x210 = x125 + x141
    x211 = x167*x210
    x212 = x120*x204 + x206*x99 + x208*x99 + 0.250081654946951*x209 + x211*x99
    x213 = x150*x99
    x214 = x120*x207 + x121*x210 + x213
    x215 = x214*x35
    x216 = x207*x96 + x210/2
    x217 = 0.125040827473476*x170
    x218 = x101*x204
    x219 = x167*x199 + x217*x99 + 0.250081654946951*x218
    x220 = x204*x99
    x221 = x120*x170 + x121*x198 + x220
    x222 = x221*x35
    x223 = x170*x96 + x198/2
    x224 = sin(q[5])
    x225 = x104*x224
    x226 = cos(q[5])
    x227 = x107*x226
    x228 = x225 + x227
    x229 = x104*x226
    x230 = x107*x224
    x231 = x113*x96 + x229/2 - x230/2
    x232 = dq[5]*x96
    x233 = x231 + x232
    x234 = x228*x233
    x235 = -x234
    x236 = x111*x229 + x113/2 + x230*x96
    x237 = dq[5]/2
    x238 = x236 + x237
    x239 = x228*x238
    x240 = x235/2 + x239*x96
    x241 = x119*x226
    x242 = x134*x224
    x243 = -x232
    x244 = x231*x237 + x236*x243 + x241 + x242
    x245 = x226/2
    x246 = x111*x226
    x247 = x224*x244 + x235*x246 + x239*x245
    x248 = x240/2 + x247*x96
    x249 = -x224/2
    x250 = x224*x96
    x251 = x226*x244 + x235*x250 + x239*x249
    x252 = x120*x247 + x121*x240 + x251*x99
    x253 = x228^2
    x254 = x233^2
    x255 = -x254
    x256 = x253 + x255
    x257 = x233*x238
    x258 = x244 + x257
    x259 = x258*x96
    x260 = x256/2 + x259
    x261 = -x238
    x262 = x228*x261
    x263 = x134*x226
    x264 = x119*x224
    x265 = -x237
    x266 = ddq[5]*x96 + x158 + x228*x265 + x263/2 - x264/2
    x267 = x262 + x266
    x268 = x224*x267 + x245*x258 + x246*x256
    x269 = x260/2 + x268*x96
    x270 = x226*x267 + x249*x258 + x250*x256
    x271 = x120*x268 + x121*x260 + x270*x99
    x272 = x233*x261
    x273 = x244 + x272
    x274 = x238^2
    x275 = -x253
    x276 = x274 + x275
    x277 = x273/2 + x276*x96
    x278 = ddq[5]/2 + x111*x263 + x156 + x228*x232 + x264*x96
    x279 = x234 + x278
    x280 = x224*x279
    x281 = x245*x276 + x246*x273 + x280
    x282 = x277/2 + x281*x96
    x283 = x226*x279
    x284 = x249*x276 + x250*x273 + x283
    x285 = x120*x281 + x121*x277 + x284*x99
    x286 = x234/2 + x266*x96
    x287 = x224*x272 + x234*x246 + x245*x266
    x288 = x286/2 + x287*x96
    x289 = x226*x272 + x234*x250 + x249*x266
    x290 = x120*x287 + x121*x286 + x289*x99
    x291 = x239 + x266
    x292 = x235 + x278
    x293 = x291/2 + x292*x96
    x294 = -x274
    x295 = x254 + x294
    x296 = x224*x295 + x245*x292 + x246*x291
    x297 = x293/2 + x296*x96
    x298 = x226*x295 + x249*x292 + x250*x291
    x299 = x120*x296 + x121*x293 + x298*x99
    x300 = x262*x96 + x278/2
    x301 = x224*x257 + x245*x262 + x246*x278
    x302 = x300/2 + x301*x96
    x303 = x226*x257 + x249*x262 + x250*x278
    x304 = x120*x301 + x121*x300 + x303*x99
    x305 = x162*x226 + x173*x224 - 0.0855633098939025*x229 + 0.0855633098939025*x230
    x306 = x162*x224
    x307 = x173*x226
    x308 = -0.0427816549469513*x95
    x309 = x111*x307 + x168/2 + x225*x308 + x227*x308 + x306*x96
    x310 = -x309
    x311 = x163*x226
    x312 = x193*x224
    x313 = x171*x96 + 0.0427816549469513*x241 + 0.0427816549469513*x242 + x265*x305 + x311/2 - x312/2
    x314 = x228*x310 + x238*x305 + x313
    x315 = x233*x305
    x316 = x168*x96 + 0.0427816549469513*x225 + 0.0427816549469513*x227 - x306/2 + x307/2
    x317 = x228*x316
    x318 = x111*x311 + x171/2 + x232*x305 + x241*x308 + x242*x308 + x312*x96
    x319 = -x318
    x320 = x315 - x317 + x319
    x321 = x314/2 + x320*x96
    x322 = x255 + x294
    x323 = x226*x322
    x324 = x239 - x266
    x325 = x308*x324
    x326 = x224*x325 + x245*x320 + x246*x314 + 0.0427816549469513*x280 - 0.0855633098939025*x323
    x327 = x321/2 + x326*x96
    x328 = x224*x322
    x329 = x226*x325 + x249*x320 + x250*x314 + 0.0427816549469513*x283 + 0.0855633098939025*x328
    x330 = x245*x279 + x246*x324 + x328
    x331 = 0.125040827473476*x330
    x332 = x249*x279 + x250*x324 + x323
    x333 = x101*x332
    x334 = x279*x96 + x324/2
    x335 = x167*x334
    x336 = x120*x326 + x121*x321 + x329*x99 + x331*x99 + 0.250081654946951*x333 + x335*x99
    x337 = x332*x99
    x338 = x120*x330 + x121*x334 + x337
    x339 = x338*x35
    x340 = x330*x96 + x334/2
    x341 = x163*x224 + x193*x226 + x237*x316 + x243*x309 - 0.0855633098939025*x263 + 0.0855633098939025*x264
    x342 = x233*x310 + x238*x316 - x341
    x343 = x342/2
    x344 = -x315 + x317 + x318
    x345 = x224*x344
    x346 = x275 + x294
    x347 = 0.0427816549469513*x346
    x348 = -x278
    x349 = x234 + x348
    x350 = x226*x349
    x351 = x258*x308
    x352 = x224*x347 + x224*x351 + x246*x342 + x345 - 0.0855633098939025*x350
    x353 = x343/2 + x352*x96
    x354 = x226*x344
    x355 = x224*x349
    x356 = x226*x347 + x226*x351 + x250*x342 + x354 + 0.0855633098939025*x355
    x357 = x245*x346 + x246*x258 + x355
    x358 = 0.125040827473476*x357
    x359 = x224*x259 + x249*x346 + x350
    x360 = x101*x359
    x361 = x258/2 + x346*x96
    x362 = x167*x361
    x363 = x120*x352 + x121*x343 + x356*x99 + x358*x99 + 0.250081654946951*x360 + x362*x99
    x364 = x359*x99
    x365 = x120*x357 + x121*x361 + x364
    x366 = x35*x365
    x367 = x357*x96 + x361/2
    x368 = x233*x309 + x261*x316 + x341
    x369 = x368*x96
    x370 = x228*x309 + x261*x305 - x313
    x371 = -x244 + x257
    x372 = 0.0427816549469513*x371
    x373 = x226*x291
    x374 = x255 + x275
    x375 = x308*x374
    x376 = x224*x370 + x224*x372 + x224*x375 + x245*x368 - 0.0855633098939025*x373
    x377 = x369/2 + x376*x96
    x378 = x224*x291
    x379 = x226*x370 + x226*x372 + x226*x375 + x249*x368 + 0.0855633098939025*x378
    x380 = x245*x371 + x246*x374 + x378
    x381 = 0.125040827473476*x380
    x382 = x249*x371 + x250*x374 + x373
    x383 = x101*x382
    x384 = x371*x96 + x374/2
    x385 = x167*x384
    x386 = x120*x376 + x121*x369 + x379*x99 + x381*x99 + 0.250081654946951*x383 + x385*x99
    x387 = x382*x99
    x388 = x120*x380 + x121*x384 + x387
    x389 = x35*x388
    x390 = x380*x96 + x384/2
    x391 = 0.0427816549469513*x314
    x392 = x226*x368
    x393 = x224*x391 + x308*x345 - 0.0855633098939025*x392
    x394 = x393*x96
    x395 = x224*x368
    x396 = x226*x391 + x308*x354 + 0.0855633098939025*x395
    x397 = x245*x314 + x246*x344 + x395
    x398 = 0.125040827473476*x397
    x399 = x249*x314 + x250*x344 + x392
    x400 = x101*x399
    x401 = x314*x96 + x344/2
    x402 = x167*x401
    x403 = x120*x393 + x396*x99 + x398*x99 + 0.250081654946951*x400 + x402*x99
    x404 = x399*x99
    x405 = x120*x397 + x121*x401 + x404
    x406 = x35*x405
    x407 = x397*x96 + x401/2
    x408 = cos(q[6])
    x409 = x228*x408
    x410 = sin(q[6])
    x411 = x233*x410
    x412 = x409 + x411
    x413 = x228*x410
    x414 = x233*x408
    x415 = x413 - x414
    x416 = x412*x415
    x417 = -x416
    x418 = -x417
    x419 = x244*x408
    x420 = x266*x410
    x421 = -dq[6]
    x422 = x415*x421 + x419 + x420
    x423 = x261 + x421
    x424 = x412*x423
    x425 = -x408
    x426 = x410*x422 + x424*x425
    x427 = x418/2 + x426*x96
    x428 = x408*x422 + x410*x424
    x429 = x224*x428 + x245*x426 + x246*x418
    x430 = x427/2 + x429*x96
    x431 = x226*x428 + x249*x426 + x250*x418
    x432 = x120*x429 + x121*x427 + x431*x99
    x433 = x412^2
    x434 = x415^2
    x435 = -x434
    x436 = -x433 - x435
    x437 = -x424
    x438 = x244*x410
    x439 = -x421
    x440 = x266*x425 + x412*x439 + x438
    x441 = x437 + x440
    x442 = x415*x423
    x443 = x422 + x442
    x444 = x410*x441 + x425*x443
    x445 = x436/2 + x444*x96
    x446 = x408*x441 + x410*x443
    x447 = x224*x446 + x245*x444 + x246*x436
    x448 = x445/2 + x447*x96
    x449 = x226*x446 + x249*x444 + x250*x436
    x450 = x120*x447 + x121*x445 + x449*x99
    x451 = -x442
    x452 = -x422 - x451
    x453 = -ddq[6] + x348
    x454 = x416 + x453
    x455 = x410*x454
    x456 = x423^2
    x457 = -x433
    x458 = x456 + x457
    x459 = x425*x458 + x455
    x460 = x452/2 + x459*x96
    x461 = x408*x454
    x462 = x410*x458 + x461
    x463 = x224*x462 + x245*x459 + x246*x452
    x464 = x460/2 + x463*x96
    x465 = x226*x462 + x249*x459 + x250*x452
    x466 = x120*x463 + x121*x460 + x465*x99
    x467 = x410*x451 + x425*x440
    x468 = x417/2 + x467*x96
    x469 = x408*x451 + x410*x440
    x470 = x224*x469 + x245*x467 + x246*x417
    x471 = x468/2 + x470*x96
    x472 = x226*x469 + x249*x467 + x250*x417
    x473 = x120*x470 + x121*x468 + x472*x99
    x474 = x424 + x440
    x475 = -x474
    x476 = -x456
    x477 = x434 + x476
    x478 = x417 + x453
    x479 = x410*x477 + x425*x478
    x480 = x475/2 + x479*x96
    x481 = x408*x477 + x410*x478
    x482 = x224*x481 + x245*x479 + x246*x475
    x483 = x480/2 + x482*x96
    x484 = x226*x481 + x249*x479 + x250*x475
    x485 = x120*x482 + x121*x480 + x484*x99
    x486 = -x453
    x487 = x410*x442 + x425*x437
    x488 = x486/2 + x487*x96
    x489 = x408*x442 + x410*x437
    x490 = x224*x489 + x245*x487 + x246*x486
    x491 = x488/2 + x490*x96
    x492 = x226*x489 + x249*x487 + x250*x486
    x493 = x120*x490 + x121*x488 + x492*x99
    x494 = x305*x408 + x316*x410 + 0.202781654946951*x413 - 0.202781654946951*x414
    x495 = x423*x494
    x496 = -x412
    x497 = x313*x425 + x341*x410 - 0.202781654946951*x419 - 0.202781654946951*x420 + x439*x494
    x498 = x310*x496 + x495 + x497
    x499 = -x498
    x500 = x415*x494
    x501 = x305*x410 + x316*x425 - 0.202781654946951*x409 - 0.202781654946951*x411
    x502 = -x319 + x496*x501 + x500
    x503 = x435 + x476
    x504 = -0.202781654946951*x408
    x505 = x425*x502 - 0.202781654946951*x455 + x503*x504
    x506 = x499/2 + x505*x96
    x507 = x410*x503
    x508 = x410*x502 - 0.202781654946951*x461 + 0.202781654946951*x507
    x509 = x425*x454 + x507
    x510 = 0.0427816549469513*x509
    x511 = x408*x503 + x455
    x512 = x226*x511
    x513 = -x424 + x440
    x514 = x308*x513
    x515 = x224*x508 + x224*x510 + x224*x514 + x245*x505 + x246*x499 - 0.0855633098939025*x512
    x516 = x506/2 + x515*x96
    x517 = x224*x511
    x518 = x226*x508 + x226*x510 + x226*x514 + x249*x505 + x250*x499 + 0.0855633098939025*x517
    x519 = x245*x509 + x246*x513 + x517
    x520 = 0.125040827473476*x519
    x521 = x249*x509 + x250*x513 + x512
    x522 = x101*x521
    x523 = x509*x96 + x513/2
    x524 = x167*x523
    x525 = x120*x515 + x121*x506 + x518*x99 + x520*x99 + 0.250081654946951*x522 + x524*x99
    x526 = x521*x99
    x527 = x120*x519 + x121*x523 + x526
    x528 = x35*x527
    x529 = x519*x96 + x523/2
    x530 = x266*x504 + x313*x410 + x341*x408 + x421*x501 + 0.202781654946951*x438
    x531 = x423*x501
    x532 = x310*x415
    x533 = x530 - x531 + x532
    x534 = x319 + x412*x501 - x500
    x535 = x416 + x486
    x536 = x457 + x476
    x537 = x410*x536
    x538 = x410*x534 + x504*x535 - 0.202781654946951*x537
    x539 = x533/2 + x538*x96
    x540 = x410*x535
    x541 = x408*x534 + x504*x536 + 0.202781654946951*x540
    x542 = x425*x536 + x540
    x543 = 0.0427816549469513*x542
    x544 = x408*x535 + x537
    x545 = x226*x544
    x546 = -x443
    x547 = x308*x546
    x548 = x224*x541 + x224*x543 + x224*x547 + x245*x538 + x246*x533 - 0.0855633098939025*x545
    x549 = x539/2 + x548*x96
    x550 = x224*x544
    x551 = x226*x541 + x226*x543 + x226*x547 + x249*x538 + x250*x533 + 0.0855633098939025*x550
    x552 = x245*x542 + x246*x546 + x550
    x553 = 0.125040827473476*x552
    x554 = x249*x542 + x250*x546 + x545
    x555 = x101*x554
    x556 = x542*x96 + x546/2
    x557 = x167*x556
    x558 = x120*x548 + x121*x539 + x551*x99 + x553*x99 + 0.250081654946951*x555 + x557*x99
    x559 = x554*x99
    x560 = x120*x552 + x121*x556 + x559
    x561 = x35*x560
    x562 = x552*x96 + x556/2
    x563 = x310*x412 - x495 - x497
    x564 = x530 - x531 + x532
    x565 = -x422 + x442
    x566 = x410*x565
    x567 = x410*x563 + x425*x564 + x474*x504 - 0.202781654946951*x566
    x568 = x567*x96
    x569 = x410*x564
    x570 = x410*x474
    x571 = x408*x563 + x504*x565 + x569 + 0.202781654946951*x570
    x572 = x425*x565 + x570
    x573 = 0.0427816549469513*x572
    x574 = x408*x474 + x566
    x575 = x226*x574
    x576 = -x435 - x457
    x577 = x308*x576
    x578 = x224*x571 + x224*x573 + x224*x577 + x245*x567 - 0.0855633098939025*x575
    x579 = x568/2 + x578*x96
    x580 = x224*x574
    x581 = x226*x571 + x226*x573 + x226*x577 + x249*x567 + 0.0855633098939025*x580
    x582 = x245*x572 + x246*x576 + x580
    x583 = 0.125040827473476*x582
    x584 = x249*x572 + x250*x576 + x575
    x585 = x101*x584
    x586 = x572*x96 + x576/2
    x587 = x167*x586
    x588 = x120*x578 + x121*x568 + x581*x99 + x583*x99 + 0.250081654946951*x585 + x587*x99
    x589 = x584*x99
    x590 = x120*x582 + x121*x586 + x589
    x591 = x35*x590
    x592 = x582*x96 + x586/2
    x593 = x410*x498
    x594 = x504*x564 - 0.202781654946951*x593
    x595 = x594*x96
    x596 = x498*x504 + 0.202781654946951*x569
    x597 = x425*x498 + x569
    x598 = 0.0427816549469513*x597
    x599 = x408*x564 + x593
    x600 = x226*x599
    x601 = -x534
    x602 = x308*x601
    x603 = x224*x596 + x224*x598 + x224*x602 + x245*x594 - 0.0855633098939025*x600
    x604 = x595/2 + x603*x96
    x605 = x224*x599
    x606 = x226*x596 + x226*x598 + x226*x602 + x249*x594 + 0.0855633098939025*x605
    x607 = x245*x597 + x246*x601 + x605
    x608 = 0.125040827473476*x607
    x609 = x249*x597 + x250*x601 + x600
    x610 = x101*x609
    x611 = x597*x96 + x601/2
    x612 = x167*x611
    x613 = x120*x603 + x121*x595 + x606*x99 + x608*x99 + 0.250081654946951*x610 + x612*x99
    x614 = x609*x99
    x615 = x120*x607 + x121*x611 + x614
    x616 = x35*x615
    x617 = x607*x96 + x611/2
    x618 = x29 + x7*x92
    x619 = x65 + x89
    x620 = x42 + x60
    x621 = x39*x92 + x80 - x81
    x622 = x101*x119 + x109*x186 + x114*x185
    x623 = x101*x136 + x126*x186 + x128*x185
    x624 = x101*x145
    x625 = x139*x186 + x142*x185 + x624
    x626 = x101*x138 + x108*x186 + x134*x185
    x627 = x101*x154 + x150*x186 + x151*x185
    x628 = x101*x127 + x135*x185 + x144*x186
    x629 = x101*x179 + x170*x186 + x174*x185 - 0.250081654946951*x181 + 0.125040827473476*x624
    x630 = x101*x198
    x631 = x101*x200 + x101*x202 + x186*x196 - 0.250081654946951*x188 + x630
    x632 = x101*x206 + x101*x208 + x101*x211 + x185*x204 - 0.250081654946951*x213
    x633 = x101*x217 + x167*x630 - 0.250081654946951*x220
    x634 = x101*x251 + x185*x247 + x186*x240
    x635 = x101*x270 + x185*x268 + x186*x260
    x636 = x101*x284 + x185*x281 + x186*x277
    x637 = x101*x289 + x185*x287 + x186*x286
    x638 = x101*x298 + x185*x296 + x186*x293
    x639 = x101*x303 + x185*x301 + x186*x300
    x640 = x101*x329 + x101*x331 + x101*x335 + x185*x326 + x186*x321 - 0.250081654946951*x337
    x641 = x101*x356 + x101*x358 + x101*x362 + x185*x352 + x186*x343 - 0.250081654946951*x364
    x642 = x101*x379 + x101*x381 + x101*x385 + x185*x376 + x186*x369 - 0.250081654946951*x387
    x643 = x101*x396 + x101*x398 + x101*x402 + x185*x393 - 0.250081654946951*x404
    x644 = x101*x431 + x185*x429 + x186*x427
    x645 = x101*x449 + x185*x447 + x186*x445
    x646 = x101*x465 + x185*x463 + x186*x460
    x647 = x101*x472 + x185*x470 + x186*x468
    x648 = x101*x484 + x185*x482 + x186*x480
    x649 = x101*x492 + x185*x490 + x186*x488
    x650 = x101*x518 + x101*x520 + x101*x524 + x185*x515 + x186*x506 - 0.250081654946951*x526
    x651 = x101*x551 + x101*x553 + x101*x557 + x185*x548 + x186*x539 - 0.250081654946951*x559
    x652 = x101*x581 + x101*x583 + x101*x587 + x185*x578 + x186*x568 - 0.250081654946951*x589
    x653 = x101*x606 + x101*x608 + x101*x612 + x185*x603 + x186*x595 - 0.250081654946951*x614
#
    H[1] = 0
    H[2] = 0
    H[3] = 0
    H[4] = 0
    H[5] = 0
    H[6] = 0
    H[7] = 0
    H[8] = 0
    H[9] = 0
    H[10] = 0
    H[11] = 0
    H[12] = 0
    H[13] = 0
    H[14] = 0
    H[15] = 0
    H[16] = 0
    H[17] = 0
    H[18] = 0
    H[19] = ddq[1]
    H[20] = 0
    H[21] = 0
    H[22] = 0
    H[23] = 0
    H[24] = 0
    H[25] = 0
    H[26] = 0
    H[27] = 0
    H[28] = 0
    H[29] = 0
    H[30] = 0
    H[31] = 0
    H[32] = 0
    H[33] = 0
    H[34] = 0
    H[35] = 0
    H[36] = 0
    H[37] = 0
    H[38] = 0
    H[39] = 0
    H[40] = 0
    H[41] = 0
    H[42] = 0
    H[43] = 0
    H[44] = 0
    H[45] = 0
    H[46] = 0
    H[47] = 0
    H[48] = 0
    H[49] = 0
    H[50] = 0
    H[51] = 0
    H[52] = 0
    H[53] = 0
    H[54] = 0
    H[55] = 0
    H[56] = 0
    H[57] = 0
    H[58] = 0
    H[59] = 0
    H[60] = 0
    H[61] = x0*x6 + x3*x8
    H[62] = -x22
    H[63] = 0
    H[64] = 0
    H[65] = 0
    H[66] = 0
    H[67] = x0*(x11 + x9) + x12
    H[68] = -x17 - x33
    H[69] = 0
    H[70] = 0
    H[71] = 0
    H[72] = 0
    H[73] = x0*x15 + x3*(x16 + x18)
    H[74] = -x19 - x6
    H[75] = 0
    H[76] = 0
    H[77] = 0
    H[78] = 0
    H[79] = x0*x19 + x11*x3
    H[80] = x22
    H[81] = 0
    H[82] = 0
    H[83] = 0
    H[84] = 0
    H[85] = x0*(x20 + x21) + x3*(x13 + x22)
    H[86] = -x11 - x8
    H[87] = 0
    H[88] = 0
    H[89] = 0
    H[90] = 0
    H[91] = x0*x5 + x3*x9
    H[92] = -x13
    H[93] = 0
    H[94] = 0
    H[95] = 0
    H[96] = 0
    H[97] = x23*x3*(-x11 + x8) + x3*(-x25 + x27)
    H[98] = -0.41*x15 - x618
    H[99] = 0
    H[100] = 0
    H[101] = 0
    H[102] = 0
    H[103] = x0*x28 + x12*x23
    H[104] = -0.41*x18 - 0.41*x21 + x31 - x32 - x4*x92
    H[105] = 0
    H[106] = 0
    H[107] = 0
    H[108] = 0
    H[109] = x0*(-x29 + x30*x7) + x23*x3*(x18 + x33) + x3*(x30*x4 + x31 - x32)
    H[110] = -0.41*x5 + 0.41*x6
    H[111] = 0
    H[112] = 0
    H[113] = 0
    H[114] = 0
    H[115] = x28*x34
    H[116] = -0.41*x618
    H[117] = 0
    H[118] = 0
    H[119] = 0
    H[120] = 0
    H[121] = x0*(x35*x42 + x36*x49) + x3*(x35*x49 + x42*x50)
    H[122] = x52
    H[123] = x51
    H[124] = 0
    H[125] = 0
    H[126] = 0
    H[127] = x0*(x35*x58 + x36*x54) + x3*(x35*x54 + x50*x58)
    H[128] = -x87
    H[129] = x87
    H[130] = 0
    H[131] = 0
    H[132] = 0
    H[133] = x0*(x35*x64 + x36*x61) + x3*(x35*x61 + x50*x64)
    H[134] = -x619
    H[135] = x619
    H[136] = 0
    H[137] = 0
    H[138] = 0
    H[139] = x0*(x35*x41 + x36*x63) + x3*(x35*x63 + x41*x50)
    H[140] = x77
    H[141] = x53
    H[142] = 0
    H[143] = 0
    H[144] = 0
    H[145] = x0*(x36*x67 + x69) + x3*(x35*x67 + x50*x68)
    H[146] = -x620
    H[147] = x620
    H[148] = 0
    H[149] = 0
    H[150] = 0
    H[151] = x0*(x35*x60 + x36*x62) + x3*(x35*x62 + x50*x60)
    H[152] = -x52
    H[153] = x52
    H[154] = 0
    H[155] = 0
    H[156] = 0
    H[157] = x0*(x35*x74 + 0.0098*x76 + x78*x79) + x3*(-0.0098*x35*x78 + x50*x74 + x75*x79) + x34*x61
    H[158] = -0.41*x50*x78 - x621 - 0.41*x76
    H[159] = x621
    H[160] = 0
    H[161] = 0
    H[162] = 0
    H[163] = x0*(x35*x84 + x36*x82 + x79*x87 + 0.0098*x86) + x3*(-0.0098*x35*x87 + x50*x84 + x79*x85 + x88) + x34*(x66 + x89)
    H[164] = -0.41*x50*x87 - 0.41*x86
    H[165] = 0
    H[166] = 0
    H[167] = 0
    H[168] = 0
    H[169] = x0*(x36*x90 + 0.0098*x69 + x79*x91) + x3*(x35*x90 - 0.0098*x35*x91 + x68*x79) + x34*(-x49 + x62)
    H[170] = -0.41*x50*x91 - 0.41*x69 - x93
    H[171] = x93
    H[172] = 0
    H[173] = 0
    H[174] = 0
    H[175] = x0*(x79*x82 + 0.0098*x94) + x3*(x79*x93 - 0.0098*x88) + x34*x74
    H[176] = -0.41*x50*x82 - 0.41*x94
    H[177] = 0
    H[178] = 0
    H[179] = 0
    H[180] = 0
    H[181] = x0*(x115*x35 + x122*x36) + x3*(x115*x50 + x122*x35)
    H[182] = -x622
    H[183] = x622
    H[184] = x115
    H[185] = 0
    H[186] = 0
    H[187] = x0*(x130*x35 + x137*x36) + x3*(x130*x50 + x137*x35)
    H[188] = -x623
    H[189] = x623
    H[190] = x130
    H[191] = 0
    H[192] = 0
    H[193] = x0*(x143*x35 + x147*x36) + x3*(x143*x50 + x147*x35)
    H[194] = -x625
    H[195] = x625
    H[196] = x143
    H[197] = 0
    H[198] = 0
    H[199] = x0*(x148*x35 + x149*x36) + x3*(x148*x50 + x149*x35)
    H[200] = -x626
    H[201] = x626
    H[202] = x148
    H[203] = 0
    H[204] = 0
    H[205] = x0*(x152*x35 + x155*x36) + x3*(x152*x50 + x155*x35)
    H[206] = -x627
    H[207] = x627
    H[208] = x152
    H[209] = 0
    H[210] = 0
    H[211] = x0*(x157*x35 + x159*x36) + x3*(x157*x50 + x159*x35)
    H[212] = -x628
    H[213] = x628
    H[214] = x157
    H[215] = 0
    H[216] = 0
    H[217] = x0*(x175*x35 + x180*x36 + 0.0098*x183 + x184*x79) + x3*(x175*x50 + x180*x35 + x182*x79 - 0.0098*x184*x35) + x34*(x145*x185 + x177 + x178*x186)
    H[218] = -0.41*x183 - 0.41*x184*x50 - x629
    H[219] = x629
    H[220] = x175
    H[221] = 0
    H[222] = 0
    H[223] = x0*(0.0098*x191 + x192*x79 + x197*x35 + x203*x36) + x3*(x190*x79 - 0.0098*x192*x35 + x197*x50 + x203*x35) + x34*(x128*x186 + x185*x189 + x201)
    H[224] = -0.41*x191 - 0.41*x192*x50 - x631
    H[225] = x631
    H[226] = x197
    H[227] = 0
    H[228] = 0
    H[229] = x0*(x205*x35 + x212*x36 + 0.0098*x215 + x216*x79) + x3*(x205*x50 + x212*x35 + x214*x79 - 0.0098*x216*x35) + x34*(x185*x207 + x186*x210 + x209)
    H[230] = -0.41*x215 - 0.41*x216*x50 - x632
    H[231] = x632
    H[232] = x205
    H[233] = 0
    H[234] = 0
    H[235] = x0*(x219*x36 + 0.0098*x222 + x223*x79) + x3*(x219*x35 + x221*x79 - 0.0098*x223*x35) + x34*(x170*x185 + x186*x198 + x218)
    H[236] = -0.41*x222 - 0.41*x223*x50 - x633
    H[237] = x633
    H[238] = 0
    H[239] = 0
    H[240] = 0
    H[241] = x0*(x248*x35 + x252*x36) + x3*(x248*x50 + x252*x35)
    H[242] = -x634
    H[243] = x634
    H[244] = x248
    H[245] = x240
    H[246] = 0
    H[247] = x0*(x269*x35 + x271*x36) + x3*(x269*x50 + x271*x35)
    H[248] = -x635
    H[249] = x635
    H[250] = x269
    H[251] = x260
    H[252] = 0
    H[253] = x0*(x282*x35 + x285*x36) + x3*(x282*x50 + x285*x35)
    H[254] = -x636
    H[255] = x636
    H[256] = x282
    H[257] = x277
    H[258] = 0
    H[259] = x0*(x288*x35 + x290*x36) + x3*(x288*x50 + x290*x35)
    H[260] = -x637
    H[261] = x637
    H[262] = x288
    H[263] = x286
    H[264] = 0
    H[265] = x0*(x297*x35 + x299*x36) + x3*(x297*x50 + x299*x35)
    H[266] = -x638
    H[267] = x638
    H[268] = x297
    H[269] = x293
    H[270] = 0
    H[271] = x0*(x302*x35 + x304*x36) + x3*(x302*x50 + x304*x35)
    H[272] = -x639
    H[273] = x639
    H[274] = x302
    H[275] = x300
    H[276] = 0
    H[277] = x0*(x327*x35 + x336*x36 + 0.0098*x339 + x340*x79) + x3*(x327*x50 + x336*x35 + x338*x79 - 0.0098*x340*x35) + x34*(x185*x330 + x186*x334 + x333)
    H[278] = -0.41*x339 - 0.41*x340*x50 - x640
    H[279] = x640
    H[280] = x327
    H[281] = x321
    H[282] = 0
    H[283] = x0*(x35*x353 + x36*x363 + 0.0098*x366 + x367*x79) + x3*(x35*x363 - 0.0098*x35*x367 + x353*x50 + x365*x79) + x34*(x185*x357 + x186*x361 + x360)
    H[284] = -0.41*x366 - 0.41*x367*x50 - x641
    H[285] = x641
    H[286] = x353
    H[287] = x343
    H[288] = 0
    H[289] = x0*(x35*x377 + x36*x386 + 0.0098*x389 + x390*x79) + x3*(x35*x386 - 0.0098*x35*x390 + x377*x50 + x388*x79) + x34*(x185*x380 + x186*x384 + x383)
    H[290] = -0.41*x389 - 0.41*x390*x50 - x642
    H[291] = x642
    H[292] = x377
    H[293] = x369
    H[294] = 0
    H[295] = x0*(x35*x394 + x36*x403 + 0.0098*x406 + x407*x79) + x3*(x35*x403 - 0.0098*x35*x407 + x394*x50 + x405*x79) + x34*(x185*x397 + x186*x401 + x400)
    H[296] = -0.41*x406 - 0.41*x407*x50 - x643
    H[297] = x643
    H[298] = x394
    H[299] = 0
    H[300] = 0
    H[301] = x0*(x35*x430 + x36*x432) + x3*(x35*x432 + x430*x50)
    H[302] = -x644
    H[303] = x644
    H[304] = x430
    H[305] = x427
    H[306] = x418
    H[307] = x0*(x35*x448 + x36*x450) + x3*(x35*x450 + x448*x50)
    H[308] = -x645
    H[309] = x645
    H[310] = x448
    H[311] = x445
    H[312] = x436
    H[313] = x0*(x35*x464 + x36*x466) + x3*(x35*x466 + x464*x50)
    H[314] = -x646
    H[315] = x646
    H[316] = x464
    H[317] = x460
    H[318] = x452
    H[319] = x0*(x35*x471 + x36*x473) + x3*(x35*x473 + x471*x50)
    H[320] = -x647
    H[321] = x647
    H[322] = x471
    H[323] = x468
    H[324] = x417
    H[325] = x0*(x35*x483 + x36*x485) + x3*(x35*x485 + x483*x50)
    H[326] = -x648
    H[327] = x648
    H[328] = x483
    H[329] = x480
    H[330] = x475
    H[331] = x0*(x35*x491 + x36*x493) + x3*(x35*x493 + x491*x50)
    H[332] = -x649
    H[333] = x649
    H[334] = x491
    H[335] = x488
    H[336] = x486
    H[337] = x0*(x35*x516 + x36*x525 + 0.0098*x528 + x529*x79) + x3*(x35*x525 - 0.0098*x35*x529 + x50*x516 + x527*x79) + x34*(x185*x519 + x186*x523 + x522)
    H[338] = -0.41*x50*x529 - 0.41*x528 - x650
    H[339] = x650
    H[340] = x516
    H[341] = x506
    H[342] = x499
    H[343] = x0*(x35*x549 + x36*x558 + 0.0098*x561 + x562*x79) + x3*(x35*x558 - 0.0098*x35*x562 + x50*x549 + x560*x79) + x34*(x185*x552 + x186*x556 + x555)
    H[344] = -0.41*x50*x562 - 0.41*x561 - x651
    H[345] = x651
    H[346] = x549
    H[347] = x539
    H[348] = x533
    H[349] = x0*(x35*x579 + x36*x588 + 0.0098*x591 + x592*x79) + x3*(x35*x588 - 0.0098*x35*x592 + x50*x579 + x590*x79) + x34*(x185*x582 + x186*x586 + x585)
    H[350] = -0.41*x50*x592 - 0.41*x591 - x652
    H[351] = x652
    H[352] = x579
    H[353] = x568
    H[354] = 0
    H[355] = x0*(x35*x604 + x36*x613 + 0.0098*x616 + x617*x79) + x3*(x35*x613 - 0.0098*x35*x617 + x50*x604 + x615*x79) + x34*(x185*x607 + x186*x611 + x610)
    H[356] = -0.41*x50*x617 - 0.41*x616 - x653
    H[357] = x653
    H[358] = x604
    H[359] = x595
    H[360] = 0
#
    return H
end